2011-10-01 18:45:20 +00:00
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/*!
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* \file gps_l1_ca_gps_sdr_acquisition.cc
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2011-12-28 21:36:45 +00:00
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* \brief Implementation of an adapter of an acquisition module based
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* on the method in Gregory Heckler's GPS-SDR (see http://github.com/gps-sdr/gps-sdr)
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* to an AcquisitionInterface
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2011-10-01 18:45:20 +00:00
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* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
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* Luis Esteve, 2011. luis(at)epsilon-formacion.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gps_l1_ca_gps_sdr_acquisition.h"
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- Major changes:
- The executable file and the default configuration file is now changed from "./install/mercurio" and "./conf/mercurio.conf" to "./install/gnss-sdr" and "./conf/gnss-sdr.conf", respectively.
- Configuration file structure changed to define in a single entry the internal sampling frequency (after the signal conditioner). NOTICE that this change affects the all the adapters (acquisition, tracking, telemetry_decoder, observables, and PVT). All the adapters are now modified to work with this feature.
- Moved several in-line GPS L1 CA parameters (a.k.a magic numbers..) to ./src/core/system_parameters/GPS_L1_CA.h definition file.
- Tracking blocks now uses DOUBLE values in their outputs.
- Observables and PVT now are separated. PVT and their associated libraries are moved to ./src/algorithms/PVT
- Temporarily disabled the RINEX output (I am working on that!)
- GNSS-SDR screen output now gives extended debug information of the receiver status and events. In the future, this output will be redirected to a log file.
- Bug fixes:
- FILE_SIGNAL_SOURCE now works correctly when the user configures GNSS-SDR to process the entire file.
- GPS_L1_CA_DLL_PLL now computes correctly the PRN start values.
- GPS_L1_CA_DLL_FLL_PLL now computes correctly the PRN start values.
- Several modifications in GPS_L1_CA_Telemetry_Decoder, GPS_L1_CA_Observables, and GPS_L1_CA_PVT modules to fix the GPS position computation.
- New features
- Tracking blocks perform a signal integrity check against NaN outliers before the correlation process.
- Tracking and PVT binary dump options are now documented and we provide MATLAB libraries and sample files to read it. Available in ./utils/matlab" and "./utils/matlab/libs"
- Observables output rate can be configured. This option enables the GPS L1 CA PVT computation at a maximum rate of 1ms.
- GPS_L1_CA_PVT now can perform a moving average Latitude, Longitude, and Altitude output for each of the Observables output. It is configurable using the configuration file.
- Added Google Earth compatible Keyhole Markup Language (KML) output writer class (./src/algorithms/PVT/libs/kml_printer.h and ./src/algorithms/PVT/libs/kml_printer.cc ). You can see the receiver position directly using Google Earth.
- We provide a master configuration file which includes an in-line documentation with all the new (and old) options. It can be found in ./conf/master.conf
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@84 64b25241-fba3-4117-9849-534c7e92360d
2011-12-07 17:59:34 +00:00
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#include "GPS_L1_CA.h"
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2011-10-01 18:45:20 +00:00
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#include "configuration_interface.h"
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#include <gnuradio/gr_io_signature.h>
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#include <gnuradio/gr_stream_to_vector.h>
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#include <gnuradio/gr_vector_to_stream.h>
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#include <gnuradio/gr_complex_to_interleaved_short.h>
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#include <gnuradio/gr_interleaved_short_to_complex.h>
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#include <glog/log_severity.h>
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#include <glog/logging.h>
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using google::LogMessage;
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2011-12-28 21:36:45 +00:00
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// Constructor
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2011-10-01 18:45:20 +00:00
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GpsL1CaGpsSdrAcquisition::GpsL1CaGpsSdrAcquisition(
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ConfigurationInterface* configuration, std::string role,
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unsigned int in_streams, unsigned int out_streams,
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gr_msg_queue_sptr queue) :
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role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(
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queue)
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{
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std::string default_item_type = "gr_complex";
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std::string default_dump_filename = "./data/acquisition_";
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DLOG(INFO) << "role " << role;
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item_type_ = configuration->property(role + ".item_type",
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default_item_type);
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//vector_length_ = configuration->property(role + ".vector_length", 2048);
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2012-01-19 17:42:33 +00:00
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gnss_satellite_ = Gnss_Satellite();
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- Major changes:
- The executable file and the default configuration file is now changed from "./install/mercurio" and "./conf/mercurio.conf" to "./install/gnss-sdr" and "./conf/gnss-sdr.conf", respectively.
- Configuration file structure changed to define in a single entry the internal sampling frequency (after the signal conditioner). NOTICE that this change affects the all the adapters (acquisition, tracking, telemetry_decoder, observables, and PVT). All the adapters are now modified to work with this feature.
- Moved several in-line GPS L1 CA parameters (a.k.a magic numbers..) to ./src/core/system_parameters/GPS_L1_CA.h definition file.
- Tracking blocks now uses DOUBLE values in their outputs.
- Observables and PVT now are separated. PVT and their associated libraries are moved to ./src/algorithms/PVT
- Temporarily disabled the RINEX output (I am working on that!)
- GNSS-SDR screen output now gives extended debug information of the receiver status and events. In the future, this output will be redirected to a log file.
- Bug fixes:
- FILE_SIGNAL_SOURCE now works correctly when the user configures GNSS-SDR to process the entire file.
- GPS_L1_CA_DLL_PLL now computes correctly the PRN start values.
- GPS_L1_CA_DLL_FLL_PLL now computes correctly the PRN start values.
- Several modifications in GPS_L1_CA_Telemetry_Decoder, GPS_L1_CA_Observables, and GPS_L1_CA_PVT modules to fix the GPS position computation.
- New features
- Tracking blocks perform a signal integrity check against NaN outliers before the correlation process.
- Tracking and PVT binary dump options are now documented and we provide MATLAB libraries and sample files to read it. Available in ./utils/matlab" and "./utils/matlab/libs"
- Observables output rate can be configured. This option enables the GPS L1 CA PVT computation at a maximum rate of 1ms.
- GPS_L1_CA_PVT now can perform a moving average Latitude, Longitude, and Altitude output for each of the Observables output. It is configurable using the configuration file.
- Added Google Earth compatible Keyhole Markup Language (KML) output writer class (./src/algorithms/PVT/libs/kml_printer.h and ./src/algorithms/PVT/libs/kml_printer.cc ). You can see the receiver position directly using Google Earth.
- We provide a master configuration file which includes an in-line documentation with all the new (and old) options. It can be found in ./conf/master.conf
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@84 64b25241-fba3-4117-9849-534c7e92360d
2011-12-07 17:59:34 +00:00
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fs_in_ = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
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2011-10-01 18:45:20 +00:00
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if_ = configuration->property(role + ".ifreq", 0);
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dump_ = configuration->property(role + ".dump", false);
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doppler_max_ = 0;
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acquisition_ms_ = configuration->property(role + ".sampled_ms", 1);
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dump_filename_ = configuration->property(role + ".dump_filename",
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default_dump_filename);
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//vector_length_=ceil((float)fs_in_*((float)acquisition_ms_/1000));
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//--- Find number of samples per spreading code ----------------------------
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- Major changes:
- The executable file and the default configuration file is now changed from "./install/mercurio" and "./conf/mercurio.conf" to "./install/gnss-sdr" and "./conf/gnss-sdr.conf", respectively.
- Configuration file structure changed to define in a single entry the internal sampling frequency (after the signal conditioner). NOTICE that this change affects the all the adapters (acquisition, tracking, telemetry_decoder, observables, and PVT). All the adapters are now modified to work with this feature.
- Moved several in-line GPS L1 CA parameters (a.k.a magic numbers..) to ./src/core/system_parameters/GPS_L1_CA.h definition file.
- Tracking blocks now uses DOUBLE values in their outputs.
- Observables and PVT now are separated. PVT and their associated libraries are moved to ./src/algorithms/PVT
- Temporarily disabled the RINEX output (I am working on that!)
- GNSS-SDR screen output now gives extended debug information of the receiver status and events. In the future, this output will be redirected to a log file.
- Bug fixes:
- FILE_SIGNAL_SOURCE now works correctly when the user configures GNSS-SDR to process the entire file.
- GPS_L1_CA_DLL_PLL now computes correctly the PRN start values.
- GPS_L1_CA_DLL_FLL_PLL now computes correctly the PRN start values.
- Several modifications in GPS_L1_CA_Telemetry_Decoder, GPS_L1_CA_Observables, and GPS_L1_CA_PVT modules to fix the GPS position computation.
- New features
- Tracking blocks perform a signal integrity check against NaN outliers before the correlation process.
- Tracking and PVT binary dump options are now documented and we provide MATLAB libraries and sample files to read it. Available in ./utils/matlab" and "./utils/matlab/libs"
- Observables output rate can be configured. This option enables the GPS L1 CA PVT computation at a maximum rate of 1ms.
- GPS_L1_CA_PVT now can perform a moving average Latitude, Longitude, and Altitude output for each of the Observables output. It is configurable using the configuration file.
- Added Google Earth compatible Keyhole Markup Language (KML) output writer class (./src/algorithms/PVT/libs/kml_printer.h and ./src/algorithms/PVT/libs/kml_printer.cc ). You can see the receiver position directly using Google Earth.
- We provide a master configuration file which includes an in-line documentation with all the new (and old) options. It can be found in ./conf/master.conf
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@84 64b25241-fba3-4117-9849-534c7e92360d
2011-12-07 17:59:34 +00:00
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vector_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
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2011-10-01 18:45:20 +00:00
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printf("vector_length_ %i\n\r", vector_length_);
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if (item_type_.compare("short") == 0)
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{
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item_size_ = sizeof(short);
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acquisition_ss_ = gps_l1_ca_gps_sdr_make_acquisition_ss(
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acquisition_ms_, if_, fs_in_, vector_length_, queue_, dump_,
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dump_filename_);
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stream_to_vector_ = gr_make_stream_to_vector(item_size_, 2
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* vector_length_);
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}
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else if (item_type_.compare("gr_complex") == 0)
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{
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item_size_ = sizeof(gr_complex);
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acquisition_cc_ = gps_l1_ca_gps_sdr_make_acquisition_cc(
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acquisition_ms_, if_, fs_in_, vector_length_, queue_, dump_,
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dump_filename_);
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stream_to_vector_ = gr_make_stream_to_vector(item_size_,
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vector_length_);
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}
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else
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{
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LOG_AT_LEVEL(WARNING) << item_type_ << " unknown item type.";
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}
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DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id()
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<< ")";
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}
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2011-12-28 21:36:45 +00:00
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// Destructor
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2011-10-01 18:45:20 +00:00
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GpsL1CaGpsSdrAcquisition::~GpsL1CaGpsSdrAcquisition()
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{}
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2011-12-28 21:36:45 +00:00
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// Set satellite
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2012-01-19 17:42:33 +00:00
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void GpsL1CaGpsSdrAcquisition::set_satellite(Gnss_Satellite satellite)
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2011-10-01 18:45:20 +00:00
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{
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2012-01-19 17:42:33 +00:00
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gnss_satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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2011-10-01 18:45:20 +00:00
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if (item_type_.compare("gr_complex") == 0)
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{
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2012-01-19 17:42:33 +00:00
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acquisition_cc_->set_satellite(gnss_satellite_);
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2011-10-01 18:45:20 +00:00
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}
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else
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{
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2012-01-19 17:42:33 +00:00
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acquisition_ss_->set_satellite(gnss_satellite_);
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2011-10-01 18:45:20 +00:00
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}
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}
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2011-12-28 21:36:45 +00:00
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// Set channel
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2011-10-01 18:45:20 +00:00
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void GpsL1CaGpsSdrAcquisition::set_channel(unsigned int channel)
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{
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channel_ = channel;
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if (item_type_.compare("gr_complex") == 0)
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{
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acquisition_cc_->set_channel(channel_);
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}
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else
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{
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acquisition_ss_->set_channel(channel_);
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}
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}
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2011-12-28 21:36:45 +00:00
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// Set acquisition threshold
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2011-10-01 18:45:20 +00:00
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void GpsL1CaGpsSdrAcquisition::set_threshold(float threshold)
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{
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threshold_ = threshold;
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if (item_type_.compare("gr_complex") == 0)
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{
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acquisition_cc_->set_threshold(threshold_);
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}
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else
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{
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acquisition_ss_->set_threshold(threshold_);
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}
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}
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2011-12-28 21:36:45 +00:00
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// Set maximum Doppler shift
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2011-10-01 18:45:20 +00:00
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void GpsL1CaGpsSdrAcquisition::set_doppler_max(unsigned int doppler_max)
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{
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doppler_max_ = doppler_max;
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if (item_type_.compare("gr_complex") == 0)
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{
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acquisition_cc_->set_doppler_max(doppler_max_);
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}
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else
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{
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acquisition_ss_->set_doppler_max(doppler_max_);
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}
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}
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2011-12-28 21:36:45 +00:00
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// Set Channel Queue
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2011-10-01 18:45:20 +00:00
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void GpsL1CaGpsSdrAcquisition::set_channel_queue(
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concurrent_queue<int> *channel_internal_queue)
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{
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channel_internal_queue_ = channel_internal_queue;
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if (item_type_.compare("gr_complex") == 0)
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{
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acquisition_cc_->set_channel_queue(channel_internal_queue_);
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}
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else
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{
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acquisition_ss_->set_channel_queue(channel_internal_queue_);
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}
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}
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signed int GpsL1CaGpsSdrAcquisition::prn_code_phase()
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{
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if (item_type_.compare("gr_complex") == 0)
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{
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return acquisition_cc_->prn_code_phase();
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}
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else
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{
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return acquisition_ss_->prn_code_phase();
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}
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}
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float GpsL1CaGpsSdrAcquisition::doppler_freq_shift()
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{
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if (item_type_.compare("gr_complex") == 0)
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{
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return acquisition_cc_->doppler_freq_phase();
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}
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else
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{
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return acquisition_ss_->doppler_freq_phase();
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}
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}
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signed int GpsL1CaGpsSdrAcquisition::mag()
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{
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if (item_type_.compare("gr_complex") == 0)
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{
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return acquisition_cc_->mag();
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}
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else
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{
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return acquisition_ss_->mag();
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}
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}
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void GpsL1CaGpsSdrAcquisition::reset()
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{
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if (item_type_.compare("gr_complex") == 0)
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{
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acquisition_cc_->set_active(true);
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}
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else
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{
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acquisition_ss_->set_active(true);
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}
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}
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unsigned long int GpsL1CaGpsSdrAcquisition::get_sample_stamp()
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{
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if (item_type_.compare("gr_complex") == 0)
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{
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return acquisition_cc_->get_sample_stamp();
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}
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else
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{
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return acquisition_ss_->get_sample_stamp();
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}
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}
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void GpsL1CaGpsSdrAcquisition::connect(gr_top_block_sptr top_block)
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{
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if (item_type_.compare("gr_complex") == 0)
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{
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//top_block->connect(stream_to_vector_, 0, vector_to_stream_,0);
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top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
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//top_block->connect(acquisition_cc_, 0, vector_to_stream_, 0);
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}
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else
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{
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top_block->connect(stream_to_vector_, 0, acquisition_ss_, 0);
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//top_block->connect(acquisition_ss_, 0, vector_to_stream_, 0);
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}
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|
|
|
|
|
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}
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|
|
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void GpsL1CaGpsSdrAcquisition::disconnect(gr_top_block_sptr top_block)
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|
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|
{
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|
|
|
|
|
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|
if (item_type_.compare("gr_complex") == 0)
|
|
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|
{
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|
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|
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
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|
|
|
//top_block->disconnect(acquisition_cc_, 0, vector_to_stream_, 0);
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|
|
|
}
|
|
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|
else
|
|
|
|
{
|
|
|
|
top_block->disconnect(stream_to_vector_, 0, acquisition_ss_, 0);
|
|
|
|
//top_block->disconnect(acquisition_ss_, 0, vector_to_stream_, 0);
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|
|
|
}
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|
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}
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|
|
|
|
|
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gr_basic_block_sptr GpsL1CaGpsSdrAcquisition::get_left_block()
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|
|
|
{
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|
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|
return stream_to_vector_;
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|
|
|
}
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|
|
|
|
|
|
|
gr_basic_block_sptr GpsL1CaGpsSdrAcquisition::get_right_block()
|
|
|
|
{
|
|
|
|
if (item_type_.compare("gr_complex") == 0)
|
|
|
|
{
|
|
|
|
return acquisition_cc_;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
return acquisition_ss_;
|
|
|
|
}
|
|
|
|
|
|
|
|
}
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|